But it was her cocker spaniel Lupo who really stole the show at the Audi Polo Challenge match at Coworth Park Polo Club.

Kate’s playful companion leapt up onto his hind legs and into the Duchess’s arms after bounding along at Prince William’s heels.

The young spaniel also looked thrilled to receive a kiss from Prince Harry, who affectionately nuzzled the animal with his nose.

Kate takes regular strolls with Lupo and has even taken him along to help out with a troop of cub scouts in North Wales.

William and Harry, who are both accomplished polo players, looked dashing in their all-white

William and Harry, who are both accomplished polo players, looked dashing in their all-white riding jodhpurs as they competed in the charity event.

Meanwhile, it was an equestrian weekend for other members of the Royal Family at the Royal Windsor Horse Show, held in the Queen’s private grounds at Windsor Castle.

Her Majesty looked radiant in a scarlet coat and hat which she accessorised with a red flower as she presented prizes for show jumping.

The Queen, who is a keen rider, was in her element as she admired a black horse at close quarters.

The event has been running for more than 65 years and is the largest outdoor equestrian show in the UK, with in excess of 3,000 horses and ponies taking part in more than 164 jumping, showing, championship and carriage driving classes.

After days of rain, The Queen looked delighted that it had been able to go ahead over fears the ground could be waterlogged.